Holder, holder control method and device and storage medium

Abstract

The invention discloses a pan-tilt, a pan-tilt control method and device and a storage medium. The pan-tilt comprises a first assembly; a second component mechanically coupled to the first component; the non-contact sensor is arranged on the first assembly and / or the second assembly; wherein the non-contact sensor is used for outputting an induction signal, so that when the relative position of the first assembly and the second assembly is changed, the holder can execute corresponding control operation according to the induction signal; the control operation comprises any one of the following items: power-on operation; and performing power-off operation. According to the holder, the user experience of the holder in the using process can be improved.

Description

PTZ, PTZ control method, device and storage medium Technical Field

[0001] The present application relates to the field of pan-tilt platform technology, and in particular to a pan-tilt platform, a pan-tilt platform control method, a pan-tilt platform control device, and a storage medium. Background Art

[0002] A gimbal generally refers to a device used to mount or secure a payload, providing support and stability. The gimbal can also rotate to adjust the payload's orientation. The payload can be a mobile phone, camera, or camcorder. Users can mount their mobile phone or other device on the gimbal to adjust the shooting angle and perform related shooting operations.

[0003] At present, the user experience during the use of the gimbal still needs to be improved.

[0004] Summary of the Invention

[0005] Based on this, the embodiments of the present application provide a pan-tilt head, a pan-tilt head control method, a device and a storage medium, aiming to solve the problem of poor user experience during the use of the pan-tilt head.

[0006] In a first aspect, an embodiment of the present application provides a gimbal, comprising: a first component; a second component mechanically coupled to the first component; and a non-contact sensor disposed on the first component and / or the second component; wherein the non-contact sensor is used to output a sensing signal so that when the relative position of the first component and the second component changes, the gimbal can perform a corresponding control operation based on the sensing signal; the control operation includes any one of the following: a power-on operation; a power-off operation.

[0007] In a second aspect, an embodiment of the present application also provides a method for controlling a gimbal, wherein the gimbal includes a first component and a second component, and the first component is mechanically coupled to the second component. The control method includes: obtaining a sensing signal from a non-contact sensor arranged on the first component and / or arranged on the second component; performing a preset control operation according to the sensing signal so that when the relative position of the first component and the second component changes, the gimbal can perform a corresponding response; wherein the control operation includes any one of the following: a power-on operation; a power-off operation.

[0008] In a third aspect, an embodiment of the present application further provides a gimbal, which includes a first component and a second component, wherein the first component is mechanically coupled to the second component; the gimbal also includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the method steps described in the second aspect when executing the computer program.

[0009] In a fourth aspect, an embodiment of the present application also provides a method for controlling a gimbal, wherein the gimbal includes a base and an arm assembly, wherein the arm assembly is connected to the base for mounting a load; the arm assembly includes at least one arm, and the arm can rotate around at least one axial direction relative to the base to adjust the posture of the load; the method includes: obtaining the motion state of the base of the gimbal; when the gimbal is equipped with a load and the motion state of the base meets a first preset condition, entering a first shooting mode; the first preset condition includes that the posture of the base remains approximately unchanged; wherein, when the gimbal is in the first shooting mode, the target arm of the arm assembly does not stabilize the load, and the target arm can rotate from a first joint angle to a second joint angle with a first degree of freedom when subjected to an external force, and can maintain the second joint angle.

[0010] In the fifth aspect, an embodiment of the present application also provides a gimbal, which includes a base and an arm assembly, wherein the arm assembly is connected to the base for mounting a load; the arm assembly includes at least one arm, and the arm can rotate around at least one axial direction relative to the base to adjust the posture of the load; the gimbal also includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the method steps described in the fourth aspect.

[0011] In the sixth aspect, an embodiment of the present application also provides a control device for a gimbal, wherein the gimbal includes a first component and a second component, and the first component is mechanically coupled to the second component; the control device includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the method steps described in the second aspect when executing the computer program.

[0012] In the seventh aspect, an embodiment of the present application also provides a control device for a gimbal, wherein the gimbal includes a base and an arm assembly, wherein the arm assembly is connected to the base for mounting a load; the arm assembly includes at least one arm, and the arm can rotate around at least one axial direction relative to the base to adjust the posture of the load; the control device includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the method steps described in the fourth aspect when executing the computer program.

[0013] In an eighth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the gimbal control method described in any embodiment of the present application specification.

[0014] The present application provides a pan / tilt system (PTZ), a method and device for controlling the PTZ, and a storage medium. The PTZ can be configured with a non-contact sensor on a first component or a second component. When the relative position of the mechanically coupled first and second components changes, the PTZ can be powered on or off based on a sensing signal output by the non-contact sensor. This allows the user to automatically power the PTZ on and off simply by changing the relative position of the first and second components, improving the user's convenience when performing power-on and power-off operations, thereby enhancing the user experience.

[0015] The gimbal can enter the first shooting mode by obtaining the motion state of the base of the gimbal, and when the gimbal is equipped with a load and the motion state of the base remains roughly unchanged. In the first shooting mode, the target axis arm of the axis arm assembly can cancel the stabilization of the load to increase the adjustable angle range of the target axis arm. At the same time, the target axis arm can be rotated from the first joint angle to the second joint angle when subjected to external force, and can be maintained at the second joint angle. This allows the user to rotate the target axis arm within a larger angle range to keep the load at a suitable shooting angle, thereby improving the user's freedom in the process of shooting with the gimbal, that is, improving the user's experience.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] FIG1 is a schematic diagram of the structure of a pan / tilt platform according to an embodiment of the present application;

[0019] FIG2 is a perspective view of a partial structure of a pan / tilt platform provided in an embodiment of the present application;

[0020] FIG3 is a second structural diagram of a pan / tilt platform provided in an embodiment of the present application;

[0021] FIG4 is a schematic structural diagram of a pan / tilt assembly provided in an embodiment of the present application;

[0022] FIG5 is a second perspective view of a partial structure of a pan / tilt platform provided in an embodiment of the present application;

[0023] FIG6 is a schematic diagram of the principle of a magnetic induction sensor provided in an embodiment of the present application;

[0024] FIG7 is a partial enlarged view of FIG2;

[0025] FIG8 is a third structural diagram of the pan / tilt platform provided in an embodiment of the present application;

[0026] FIG9 is a flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present application;

[0027] FIG10 is a second flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present application;

[0028] FIG11 is a schematic diagram of a pan-tilt platform equipped with a load according to an embodiment of the present application;

[0029] FIG12 is a second schematic diagram of a pan-tilt platform equipped with a load according to an embodiment of the present application;

[0030] FIG13 is a third schematic diagram of a pan-tilt platform equipped with a load according to an embodiment of the present application;

[0031] FIG14 is a schematic structural diagram of a control device for a pan / tilt platform provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0034] Throughout the specification and claims, the word "including" is an open-ended term and should be interpreted as "including but not limited to." "Substantially" means that within an acceptable error range, a person skilled in the art can solve the technical problem and substantially achieve the technical effect.

[0035] Furthermore, the term “connected” herein encompasses both direct and indirect connection methods. Thus, if a first device is described as being connected to a second device, this means that the first device may be directly connected to the second device or indirectly connected to the second device via other devices.

[0036] It should be understood that the terms "and / or" and "and / or" as used herein are merely a description of the relationship between related objects, indicating that three possible relationships exist. For example, "A1 and / or B1" can represent: A1 exists alone; A1 and B1 exist simultaneously; and B1 exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0037] It should be understood that the flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0038] Some embodiments of the present application are described in detail below with reference to the accompanying drawings. Unless there is any contradiction, those skilled in the art may combine and combine the different embodiments or examples and features of the different embodiments or examples described in this specification.

[0039] A gimbal generally refers to a supporting device used to mount or secure a payload, such as a mobile phone, camera, or camcorder. Users can mount their mobile phone or other device on the gimbal to perform related filming operations.

[0040] Currently, the user experience of gimbals still needs to be improved. For example, to improve portability, some gimbals have foldable or deformable structures. Users need to power off the gimbal by pressing a button, then fold or deform it; after unfolding or deforming it, they need to power it back on by pressing a button. As can be seen, when using a foldable or deformable gimbal, powering it on and off is cumbersome and inconvenient.

[0041] To solve the above problems, the embodiments of the present application provide a pan-tilt head, a pan-tilt head control method, a device and a storage medium, aiming to improve the convenience of users when powering on or off.

[0042] 1 to 8 , an embodiment of the present application provides a gimbal, comprising: a first component 10; a second component 20 mechanically coupled to the first component 10; and a non-contact sensor 30 disposed on the first component 10 or the second component 20. The non-contact sensor 30 is configured to output a sensing signal so that when the relative position of the first component 10 and the second component 20 changes, the gimbal can perform a corresponding control operation based on the sensing signal. The control operation includes either a power-on operation or a power-off operation.

[0043] In the embodiment of the present application, the first component 10 and the second component 20 can be different components mechanically coupled to each other in the gimbal. The structure, shape, and functions of the first component 10 and the second component 20 can be the same or different, and can be actually configured according to the specific application scenario.

[0044] For example, referring to FIG1 , in some embodiments, the gimbal can be a handheld gimbal, and the first component 10 can include a gimbal component 12 that carries a load, and the second component 20 can include a grip 21 with a grip handle. In some embodiments, the first component 10 and the second component 20 can also include axis arms corresponding to different axes in the gimbal. For example, the first component 10 can include an axis arm corresponding to the yaw axis, and the second component 20 can include an axis arm corresponding to the roll axis, etc. In some embodiments, the gimbal can have a foldable or deformable structure, and the first component 10 and the second component 20 can respectively include components connected to the foldable or deformable structure.

[0045] The mechanical coupling between the first component 10 and the second component 20 can be understood as a mechanical connection and / or mechanical interaction between the first component 10 and the second component 20. Mechanical connections include, but are not limited to, rotational connections, movable connections, sliding connections, and abutment, and can be configured based on actual needs.

[0046] The first component 10 and the second component 20 can interact with each other through a mechanical connection. It should be understood that in some embodiments, the first component 10 and the second component 20 may not be directly connected, but connected through a connector to enable mutual mechanical interaction between the two. This will not be repeated here.

[0047] In the embodiment of the present application, the non-contact sensor 30 can be understood as a sensor that does not make contact with the object being measured. The non-contact sensor 30 includes, but is not limited to, a magnetic induction sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a visual sensor, and a millimeter-wave radar sensor. The specific configuration can be based on the actual application scenario and is not listed here.

[0048] 2 , the non-contact sensor 30 is disposed on the second component 20 and can sense the first component 10. Of course, in some embodiments, there can be two non-contact sensors 30, which are disposed on the first component 10 and the second component 20 respectively.

[0049] Generally, the sensing signal in the embodiments of the present application can be an electrical signal, specifically a digital signal or an analog signal. The sensing signal can indicate the relative position between the first component 10 and the second component 20, including but not limited to the relative distance and relative angular displacement. Of course, in some embodiments, the sensing signal can also indicate the relative motion trend between the first component 10 and the second component 20, such as the relative velocity or relative acceleration.

[0050] It should be understood that in some embodiments, the gimbal can include a signal conditioning circuit that amplifies, filters, and performs digital-to-analog conversion on the sensing signal from the contactless sensor 30, ultimately outputting a signal for logical judgment. Based on the sensing signal, the gimbal can determine whether the relative position of the first component 10 and the second component 20 has changed. Alternatively, the gimbal can determine the relative position of the first component 10 and the second component 20 based on the sensing signal.

[0051] In the embodiment of the present application, the gimbal can also perform a control operation based on the sensing signal so that the gimbal can respond accordingly when the relative position between the first component 10 and the second component 20 changes. It should be understood that the gimbal can choose whether to perform the corresponding control operation when the sensing signal indicates that the relative position between the first component 10 and the second component 20 has changed.

[0052] For example, referring to Figure 1 , in some embodiments, the gimbal can perform corresponding control operations when the relative position between the first component 10 and the second component 20 is a preset position, or when the first component 10 and the second component 20 are in a preset posture. In some embodiments, the gimbal can also perform corresponding control operations when the relative distance between the first component 10 and the second component 20 is less than a preset distance, and / or the relative angle between the first component 10 and the second component 20 is less than a preset angle.

[0053] It should be noted that, in some embodiments, the change in the relative position of components in the first component 10 and components in the second component 20 can also be understood as a change in the relative position between the first component 10 and the second component 20.

[0054] In the embodiments of the present application, a power-on operation can be understood as powering on at least some of the electrical components of the gimbal. The power-on operation can be performed by powering at least some of the electrical components of the gimbal using a gimbal control battery or an external power source. After the power-on operation is performed, at least some of the electrical components of the gimbal remain powered on or supplied with power. In some embodiments, a power-off operation can be performed by turning on the gimbal.

[0055] Similarly, a power-off operation can be understood as a power-off operation performed on at least some of the electrical components of the gimbal. The power-off operation can cause the gimbal control battery or external power source to stop supplying power to at least some of the gimbal's electrical components. After the power-off operation is performed, at least some of the gimbal's electrical components remain powered off. In some embodiments, the power-off operation can be a shutdown of the gimbal.

[0056] It is understandable that when performing the power-off operation, the gimbal can continue to supply power to the non-contact sensor 30 to prevent the non-contact sensor 30 from being unable to output the sensing signal for causing the gimbal to perform the power-on operation due to power failure.

[0057] In the embodiment of the present application, the gimbal can be provided with a non-contact sensor 30 on the first component 10 and / or the second component 20. When the relative position of the mechanically coupled first component 10 and second component 20 changes, the gimbal can perform corresponding power-on or power-off control operations based on the sensing signal output by the non-contact sensor 30. In this way, the user can automatically power the gimbal on and off simply by changing the relative position of the first component 10 and second component 20, improving the convenience of power-on and power-off operations for the user, thereby enhancing the user experience.

[0058] Furthermore, if a contact sensor is used, such as a pressure sensor placed between the first and second components 10, 20, and the contact between the pressure sensor and the first and second components 10, 20 is used to determine whether the positions of the first and second components 10, 20 have changed, this often results in a small sensing range. Furthermore, frequent contact between the contact sensor and the object being measured can cause mechanical wear and tear, shortening the lifespan of the gimbal.

[0059] By using the non-contact sensor 30 for sensing, the sensing range can be improved while avoiding the mechanical loss caused by the contact sensor (such as a pressure sensor) when it comes into contact with the object being measured, thereby increasing the service life of the pan / tilt platform.

[0060] Optionally, referring to FIG. 3 , in some embodiments, the first assembly 10 may include a first component 11, wherein the first component 11 is capable of rotating relative to the second assembly 20 with a first degree of freedom and a second degree of freedom. The first degree of freedom corresponds to a predetermined first rotation range. When the first component 11 rotates relative to the second assembly 20 with the second degree of freedom at any angle within the first rotation range of the first degree of freedom, such that the relative position of the first component 11 and the second assembly 20 changes and the sensing signal changes, the sensing signal is used to cause the gimbal to perform a control operation.

[0061] The first and second degrees of freedom can be understood as rotational degrees of freedom, or rotational degrees of freedom. For example, the range of rotation of a robotic arm around a particular axis. In other words, when the first component 11 rotates in the first degree of freedom, it is equivalent to rotating the first component 11 in the direction or axis corresponding to the first degree of freedom.

[0062] The first and second degrees of freedom can correspond to rotations about different axes. It should be understood that the first degree of freedom can correspond to the axis of any of the gimbal's pitch, roll, and yaw axes, while the second degree of freedom can correspond to other axes other than the axis of the gimbal's axis assembly. In other words, the second degree of freedom can be a degree of freedom for rotation about an axis other than the axis corresponding to the first degree of freedom, meaning that the first component 11 can rotate about at least two axes relative to the second component 20.

[0063] The first rotation range corresponding to the first degree of freedom can be a rotation range caused by mechanical limits or a rotation range controlled by a motor algorithm, and is not further limited here. When the first component 11 rotates to any angle within the first rotation range using the first degree of freedom, the first component 11 can further rotate using the second degree of freedom, thereby changing the relative position of the first component 11 and the second assembly 20. Accordingly, the first component 11 can further rotate using the first degree of freedom while rotating using the second degree of freedom.

[0064] For example, referring again to FIG. 3 , the first degree of freedom of the first component 11 can be rotational freedom about the yaw axis, i.e., direction A as shown in the figure, within a predetermined first rotation range. The gimbal can further include a folding mechanism 1213 connected to the first component 11, and the second degree of freedom can be direction B as shown in the figure. When the first component 11 is at any angle within the first rotation range corresponding to the first degree of freedom, the folding mechanism 1213 can rotate the first component 11 in the second degree of freedom.

[0065] In this case, in order to prevent the first component 11 from escaping from the sensing range of the non-contact sensor 30 when rotating with the second degree of freedom at certain angles within the first rotation range corresponding to the first degree of freedom, resulting in failure to trigger the power-on and power-off operation, or erroneous triggering of the power-on and power-off operation. The detection range of the non-contact sensor 30 may include a plane. For example, in some embodiments, the non-contact sensor 30 may be a magnetic induction sensor that cooperates with a magnet for detection. Since the magnetic field generated by the magnet includes at least one planar area, the non-contact sensor 30 can output a sensing signal when it is located in the magnetic field generated by the magnet. In some embodiments, the non-contact sensor 30 can be arranged in the second component 20 and have an annular detection range. The axial direction corresponding to the annular detection range is the axial direction corresponding to the first degree of freedom. Therefore, when the first component 11 is located in the annular detection range of the non-contact sensor 30, the non-contact sensor 30 can output a sensing signal.

[0066] It should be noted that the sensing signal is used to enable the gimbal to perform a control operation. It can be understood that the gimbal can choose whether to perform a control operation based on the sensing signal.

[0067] In this way, the first component 11 of the first assembly 10 of the gimbal can rotate in the second degree of freedom at any angle within the first rotation range of the first degree of freedom, thereby changing the relative position between the first component 11 and the second component 20. During this process, the non-contact sensor 30 can output a sensing signal for causing the gimbal to perform a corresponding control operation. This reduces the possibility of the gimbal erroneously triggering or failing to trigger power on / off operations while the user is rotating the first component 11 in the first and second degrees of freedom, thereby improving the user experience.

[0068] At the same time, this will allow users to control the gimbal to perform power-on or power-off operations with greater rotational freedom, further enhancing the user experience.

[0069] It should be understood that the first degree of freedom may be a degree of freedom of rotation about a roll axis, a degree of freedom of rotation about a pitch axis, or a degree of freedom of rotation about a yaw axis, and may be specifically set according to the axis sequence and structure of the gimbal.

[0070] Optionally, the gimbal may be a handheld gimbal with a handle.

[0071] 1 and 3 , in some embodiments, the first component 10 may include a gimbal assembly 12, the second component 20 may include a grip 21, and the gimbal assembly 12 is connected to the grip 21. The gimbal assembly 12 may include a first component 11. The gimbal assembly 12 may be connected to a load to stabilize the load. The grip 21 may be held by a user. The gimbal assembly 12 and the grip 21 may be rotatably connected so that the gimbal assembly 12 rotates relative to the grip 21 to change the orientation of the load when the user holds the grip 21.

[0072] For example, we can continue to refer to Figure 1, wherein the first component 10 may include the gimbal assembly 12 as shown in Figure 1, and the gimbal assembly 12 may include at least one axis assembly among a roll axis assembly, a pitch axis assembly and a yaw axis assembly. Among them, any axis assembly may include a motor and an axis arm connected to the motor, and the axis arm is driven by the motor to rotate. The second component 20 may include a grip 21 as shown in Figure 1, which may be a handle. When the user uses the gimbal, the grip 21 in the second component 20 is held by the user, and the gimbal assembly 12 in the first component 10 is used to connect the load, and the axis assembly contained in the gimbal assembly 12 can rotate or displace relative to the grip 21 to change the direction of the load.

[0073] As shown in Figure 3 , first component 11 may include a portion of a yaw axis arm, a pitch axis motor, a pitch axis arm, and a roll axis motor. When the yaw axis arm rotates about the yaw axis, it drives first component 11 to rotate about the yaw axis. In this case, the first degree of freedom is rotational freedom about the yaw axis.

[0074] Optionally, the non-contact sensor 30 can be provided on the pan / tilt assembly 12 or the grip 21 .

[0075] Specifically, in some embodiments, the non-contact sensor 30 can be attached to the surface of any arm of the gimbal assembly 12, or to the surface of the grip 21, to improve sensing accuracy. In some embodiments, the non-contact sensor 30 can also be built into the arm of the gimbal assembly 12 or the grip 21 to improve aesthetics and space utilization.

[0076] Since users often need to hold the grip and rotate the gimbal assembly during use, the position between the first component 11 and the second component 20 may change accordingly during this process. Therefore, by configuring the first component 10 to include the gimbal assembly, the gimbal assembly to include the first component 11, and the second component 20 to include the grip, users can more conveniently power on and off the gimbal by changing the position of the first component 11 of the gimbal assembly relative to the grip during use.

[0077] Optionally, the pan-tilt head may include at least one axis assembly.

[0078] 4 , in some embodiments, the pan / tilt assembly 12 may include a first shaft assembly 121, which is connected to the grip 21 and includes a first drive member 1211 and a first shaft arm 1212. The first shaft arm 1212 is connected to the first drive member 1211 and can be driven by the first drive member 1211 to rotate about a first axis.

[0079] The first axis assembly 121 can be an axis assembly corresponding to a single-axis gimbal, or a component corresponding to any axis of a two-axis gimbal, or a component corresponding to any axis of a three-axis gimbal. The first axis can be any of the gimbal's yaw, pitch, and roll axes to enable the gimbal assembly 12 to rotate along the axis.

[0080] The first shaft assembly 121 can be connected to the grip 21. Specifically, referring to Figures 1 and 4 together, the first driving member 1211 can be connected to the grip 21 and the first shaft arm 1212, respectively. The first driving member 1211 can drive the first shaft arm 1212 to rotate around the first axis, thereby changing the relative position between the grip 21 and the first shaft arm 1212. The first driving member 1211 can be a motor. The base of the motor can be fixedly connected to the grip 21, and the rotation output end of the motor can be fixedly connected to the first shaft arm 1212 to drive the first shaft arm 1212 to rotate around the first axis.

[0081] Furthermore, the first degree of freedom may be a degree of freedom of rotation about a first axis.

[0082] In some embodiments, the first component 11 may be connected to the first shaft arm, or include at least a portion of the first shaft arm. Specifically, referring to Figures 3 and 4 , in Figure 4 , the first component 11 includes a portion of the first shaft arm 1212, so that when the first shaft arm 1212 rotates about the first axis, the first component 11 can rotate with the first shaft arm 1212 in the first degree of freedom.

[0083] Optionally, the platform may have a folding mechanism 1213 and may be folded by the folding mechanism 1213 .

[0084] 3 , in some embodiments, a folding mechanism 1213 may be provided on the first shaft arm 1212 , and the folding mechanism 1213 can enable the first component 11 to rotate with a second degree of freedom.

[0085] The first arm 1212 can be folded by a folding mechanism 1213. Because the first component 11 is connected to the first arm 1212 or includes at least a portion of the structure of the first arm 1212, the first component 11 can rotate with a second degree of freedom during the folding of the first arm 1212 by the folding mechanism 1213, thereby being sensed by the non-contact sensor 30. The folding mechanism 1213 includes, but is not limited to, a rotating shaft mechanism, a hinge mechanism, and a slide rail mechanism. In some embodiments, the folding mechanism 1213 can be disposed in the middle of the first arm 1212 and connect the two portions of the first arm 1212.

[0086] Typically, when using a gimbal with a folding mechanism 1213, the user unfolds the gimbal, turns it on with the power button, and then folds it back up and turns it off with the power button. The rotation process through the folding mechanism 1213 is considered a rotation process with a second degree of freedom. During this process, the contactless sensor 30 can output a sensing signal indicating power-on and power-off operations. This allows the user to power the gimbal on and off simply by folding or unfolding the gimbal assembly, further enhancing the convenience of power-on and power-off operations.

[0087] 4 , in some embodiments, the first shaft arm 1212 may include: a first sub-shaft arm 12121 connected to the first driving member 1211; a second sub-shaft arm 12122; and a folding mechanism 1213 connected to the first sub-shaft arm 12121 and to the second sub-shaft arm 12122, so that the second sub-shaft arm 12122 can rotate with a second degree of freedom. The first component 11 includes the second sub-shaft arm 12122.

[0088] When the first driving member 1211 drives the first sub-axis arm 12121 to rotate, the first component 11 can rotate with the first sub-axis arm 12121 with a first degree of freedom, and can simultaneously rotate with a second degree of freedom through the folding mechanism 1213 .

[0089] Furthermore, the gimbal assembly may be a two-axis gimbal or a three-axis gimbal.

[0090] Referring to Figure 4, in some embodiments, the pan / tilt assembly 12 may further include: a second axis assembly 122 connected to the first axis assembly 121, comprising a second drive member 1221 and a second axis arm 1222. The second axis arm 1222 is connected to the second drive member 1221 and can be driven by the second drive member 1221 to rotate about a second axis. And / or, a third axis assembly 123 connected to the second axis assembly 122, comprising a third drive member, which can rotate about a third axis.

[0091] In Figure 4 , one end of the first shaft arm 1212 can be connected to the first driving member 1211, and the other end can be connected to the second driving member 1221. One end of the second shaft arm 1222 can be connected to the second driving member 1221, and the other end can be connected to the third driving member. The third driving member can drive the load to rotate when rotating about the third axis. The third driving member can be connected to the load directly or via a mounting bracket, and the specific configuration can be determined based on actual needs.

[0092] The second driving member and the third driving member are similar to the first driving member and may be motors, which will not be described in detail here.

[0093] In the embodiment of the present application, the axis sequence and structural arrangement of the gimbal can be set according to actual conditions.

[0094] In some embodiments, the first axis can be the yaw axis of the gimbal, the second axis can be the pitch axis of the gimbal, and the third axis can be the roll axis of the gimbal. Continuing with FIG1 , FIG1 shows a three-axis gimbal, with a first axis assembly 121 corresponding to the yaw axis, a second axis assembly 122 corresponding to the pitch axis, and a third axis assembly 123 corresponding to the roll axis being provided, from the direction closest to the handle to the direction away from the handle.

[0095] In the embodiment of the present application, the number and type of the non-contact sensors 30 can be set according to actual conditions.

[0096] In some embodiments, the non-contact sensor 30 may include at least one of the following: an infrared sensor; a laser sensor; an ultrasonic sensor; a visual sensor; and a millimeter-wave radar sensor.

[0097] The non-contact sensor 30 senses the object being measured in a non-contact manner and outputs a sensing signal. For example, when the non-contact sensor 30 is an infrared, laser, ultrasonic, or millimeter-wave radar sensor, the sensor outputs a sensing signal based on the return time of the emitted light or sound waves. When the non-contact sensor 30 is a visual sensor, the visual sensor can capture image data of the object being measured and output a sensing signal. The pan / tilt head can determine its relative position to the object being measured based on the output sensing signal.

[0098] The non-contact sensor 30 may have a paired sensing element 40. The pan / tilt platform may obtain the position of the sensing element 40 through the sensing signal of the non-contact sensor 30 to determine the position of the object being measured.

[0099] 5 , which is a partial perspective view of the pan-tilt platform, in some embodiments, the pan-tilt platform may further include a sensing element 40 , and the non-contact sensor 30 is configured to output a sensing signal according to a change in relative position between the non-contact sensor 30 and the sensing element 40 .

[0100] For example, in some embodiments, the contactless sensor 30 may be a magnetic induction sensor, and the sensing element 40 may be a magnet, or at least partially made of a magnetic material. The magnetic induction sensor may output a sensing signal indicating the magnetic field strength of the sensing element 40. Since the magnetic field strength is generally greater the closer to the magnet, the gimbal can determine the relative position between the magnetic induction sensor and the sensing element 40 based on the sensing signal. By combining detection with the magnetic induction sensor and the magnet, it is possible to effectively prevent the gimbal from mistakenly triggering or failing to trigger power-on and power-off operations during user operation, thereby improving the accuracy of the timing of power-on and power-off operations.

[0101] The type of magnetic induction sensor can be set according to actual needs. In some embodiments, the magnetic induction sensor can include a Hall effect sensor and / or an anisotropic magnetoresistive (AMR) sensor. The Hall effect element or magnetoresistive element converts the magnetic signal into an electrical signal.

[0102] Of course, in other optional embodiments, the non-contact sensor 30 may also be an infrared sensor, and the sensing element 40 may have a specific temperature. By detecting the sensing element 40 at a specific temperature, false triggering can be avoided and sensing accuracy can be improved.

[0103] Optionally, the non-contact sensor 30 may be disposed in one of the first component 10 and the second component 20 , and the sensing element 40 may be disposed in the other of the first component 10 and the second component 20 .

[0104] 5 , in some embodiments, the contactless sensor 30 may be disposed on the grip 21, and the sensing member 40 may be disposed on the first component 11, specifically, may be located inside the first component 11. When the first component 11 rotates relative to the grip 21 with a first degree of freedom, or rotates relative to the grip 21 with a second degree of freedom, the contactless sensor 30 may output a corresponding sensing signal, causing the gimbal to perform corresponding control operations based on the sensing signal.

[0105] Since the first component 11 can rotate with at least two degrees of freedom and has a large range of motion, in order to avoid leaving the sensing range of the non-contact sensor 30, in some embodiments, the non-contact sensor 30 may include an AMR sensor, and the gimbal also includes a sensing element 40 made of magnetic material.

[0106] Refer to Figure 6, which illustrates the sensing principle of an anisotropic magnetoresistive (AMR) sensor. The external magnetic flux lines of a magnet run from the north pole to the south pole. For an AMR sensor positioned at the X or Y position, it can sense the horizontal magnetic field component of the magnet, as shown in the figure. Therefore, as the sensing element 40 moves around the AMR sensor, the AMR sensor can sense the corresponding horizontal magnetic field component and output a sensing signal based on this magnetic field component. In other words, the AMR sensor can be understood as a planar / 2D magnetic induction sensor.

[0107] Specifically, an AMR sensor generally includes four magnetoresistive elements. When a magnetic field is applied, the resistance values ​​of different magnetoresistive elements change differently, resulting in potential differences and forming an induction signal.

[0108] It should be understood that the induction member 40 can be made entirely of magnetic material or partially of magnetic material. In some embodiments, the induction member 40 can include a magnet disposed within one of the first component 10 and the second component 20. Of course, in other optional embodiments, the induction member 40 can also be a part of the first component 10 or the second component 20, that is, the first component 10 or the second component 20 can be partially made of magnetic material.

[0109] Optionally, the gimbal can perform corresponding control operations according to the size of the sensing signal.

[0110] In some embodiments, the gimbal may further include a processor configured to perform at least one of the following: powering on the device when the sensing signal is less than a first preset threshold, or powering off the device when the sensing signal is greater than or equal to a second preset threshold.

[0111] The induction signal is typically an analog electrical signal, such as a voltage or current value. The amplitude of the induction signal can indicate corresponding information. For example, the Hall effect sensor generates a larger Hall effect voltage when the magnetic field strength it senses increases, indicating a closer distance between the object being measured and the Hall effect sensor. Therefore, the gimbal can use the processor to determine the magnitude of the induction signal and thus the distance between the sensor and the object being measured.

[0112] For example, referring to Figure 3, the first component 11 in Figure 3 can be folded or unfolded along the B direction relative to the grip 21. When the sensing signal is less than the first preset threshold, it indicates that the distance between the first component 11 and the grip 21 is greater than the first preset distance. At this time, the processor of the gimbal can perform a power-on operation. Correspondingly, when the sensing signal is greater than or equal to the second preset threshold, it indicates that the distance between the first component 11 and the grip 21 is less than or equal to the second preset distance, and the processor of the gimbal can perform a power-off operation.

[0113] The first preset threshold value may be equal to the second preset threshold value. When the two are equal, the gimbal's processor may perform a power-on operation when the first component 11 and the grip 21 are in the state shown in FIG3 and the first component 11 moves further away from the grip 21. The gimbal's processor may perform a power-off operation when the first component 11 and the grip 21 are in the state shown in FIG3 or the first component 11 moves further toward the grip 21.

[0114] In some embodiments, to prevent the user from accidentally triggering power on and off when rotating the first component 11, the first preset threshold may also be smaller than the preset threshold. That is, when performing a power-on operation, the distance between the first component 11 and the grip is greater than when performing a power-off operation.

[0115] Optionally, the gimbal can be provided with at least two non-contact sensors 30 to improve the accuracy of power on and off operation timing.

[0116] Referring to Figure 7, which is a partial enlarged view of Figure 2, in some embodiments, the non-contact sensor 30 may include a first sensor 31 and a second sensor 32. The first sensor 31 is disposed on the first component 11 or the second assembly 20, and the second sensor 32 is disposed on the first component 11 or the second assembly 20. The first sensor 31 is configured to output a first sensing signal, and the second sensor 32 is configured to output a second sensing signal, so that when the first component 11 rotates relative to the second assembly 20 in the second degree of freedom at any angle within the first rotation range of the first degree of freedom, the gimbal can perform control operations based on the first sensing signal and the second sensing signal.

[0117] In this way, the gimbal can perform control operations based on the first sensing signal and the second sensing signal output by the first sensor 31 and the second sensor 32, thereby expanding the sensing range and improving the detection accuracy.

[0118] In addition, when any one of the first sensor 31 and the second sensor 32 fails, the PTZ can still detect the failure through the other sensor and perform corresponding control operations. By providing two sensors, the reliability of the non-contact sensor 30 can also be improved.

[0119] Of course, in some embodiments, the first sensor 31 and / or the second sensor 32 may also include a magnetic induction sensor. Similar to the above embodiment, when the first sensor 31 and / or the second sensor 32 include a magnetic induction sensor, the gimbal may further include a sensing element 40 made of a magnetic material. The magnetic induction sensor is disposed on one of the gimbal assembly 12 and the grip 21, and the sensing element 40 is disposed on the other of the gimbal assembly 12 and the grip 21. The first sensor 31 and / or the second sensor 32 is configured to output a sensing signal based on changes in their relative position to the sensing element 40.

[0120] In the embodiment of the present application, the first sensor 31 and the second sensor 32 can be set in the same component or in different components, and can be set according to actual needs.

[0121] The gimbal may include a sensing element 40 , and the first sensor 31 and the second sensor 32 may be used to detect relative positions with respect to the same sensing element 40 , and output a first sensing signal and a second sensing signal to save layout space and avoid magnetic interference affecting detection accuracy.

[0122] Of course, in other optional embodiments, the gimbal may also include two or more sensing elements 40 , and the first sensor 31 and the second sensor 32 may be used to detect relative positions with respect to different sensing elements 40 , and may be specifically configured according to actual conditions.

[0123] In some embodiments, the first sensor 31 and the second sensor 32 may include a Hall sensor and / or an AMR sensor.

[0124] Continuing with Figure 7 , the AMR sensor's sensing principle shows that for a magnetic induction sensor located at position Z, since the magnet and the AMR sensor are located in the same vertical direction, the horizontal magnetic field component of the magnet at the AMR sensor is approximately zero. This means that the AMR sensor may have a sensing blind spot.

[0125] At this time, by setting up two sensors, it is possible to determine whether to perform a control operation in the sensing blind area of ​​the AMR sensor in combination with the sensing signal of the other sensor, thereby improving the accuracy of the timing of power on and off operations.

[0126] Specifically, in some embodiments, the first sensor 31 may include a Hall sensor, and the second sensor 32 may include an AMR sensor. As discussed above, when the second sensor 32 is an AMR sensor, the magnet may be within the second sensor 32's blind spot when the first component 11 rotates relative to the grip 21. In this case, the first sensor 31 may include a Hall sensor, which can sense the vertical component of the magnetic field generated by the magnet.

[0127] When the second sensor 32 cannot sense the horizontal component of the magnetic field generated by the magnet, the first sensor 31 can still sense the vertical component of the magnetic field, thereby avoiding the situation where the second sensor 32 outputs a sensing signal in the sensing blind area when the first component 11 rotates in the second degree of freedom at any angle of the first degree of freedom, causing the gimbal to mistakenly trigger the power on and off operation, or fail to trigger the power on and off operation, thereby improving the accuracy of the timing of the power on and off operation.

[0128] Of course, in other optional embodiments, the first sensor 31 and the second sensor 32 may both include AMR sensors. In this case, the first sensor 31 and the second sensor 32 may not be located in the same vertical direction, so that their blind spots for sensing the sensing element 40 do not overlap, thereby improving detection accuracy.

[0129] In the embodiment of the present application, the first sensor 31 and the second sensor 32 can be positioned as needed. Referring to FIG. 2 , FIG. 5 , and FIG. 7 , in some embodiments, the first sensor 31 and the second sensor 32 can both be positioned on the grip 21 , while the sensing element 40 can be positioned on the gimbal assembly 12 .

[0130] Furthermore, in order to improve the aesthetics and space utilization of the gimbal, in some embodiments, the first sensor 31 and the second sensor 32 can both be disposed in the grip 21 .

[0131] 7 , in some embodiments, the first sensor 31 and the second sensor 32 can be disposed on the same circuit board. To avoid a situation where one of the first sensor 31 and the second sensor 32 is unable to sense the sensing element 40 when the first sensor 31 and the second sensor 32 are far apart, and to ensure more accurate sensing of the sensing element 40 by the first sensor 31 and the second sensor 32, in some embodiments, the first sensor 31 and the second sensor 32 can be disposed adjacent to each other.

[0132] Similar to the above embodiment, for a foldable gimbal, the first sensor 31 and the second sensor 32 can output sensing signals during the folding process, and the gimbal can perform control operations according to the sensing signals.

[0133] 3 and 4 , in some embodiments, the pan / tilt assembly 12 includes a first component 11 and a folding mechanism 1213, which are connected to each other. The folding mechanism 1213 allows the first component 11 to rotate with a second degree of freedom, such that the end of the first component 11 away from the folding mechanism 1213 moves closer to or further from the grip 21. A sensing element 40 may be disposed on the first component 11.

[0134] It can be seen from the above embodiments that the non-contact sensor 30 can be used to output a sensing signal according to the relative position change between the first component 11 and the grip 21, so that when the first component 11 rotates with the second degree of freedom through the folding mechanism 1213, the gimbal can perform control operations according to the sensing signal.

[0135] In the embodiment of the present application, the sensing member 40 may be provided on the first component 11. Since the end of the first component 11 away from the folding mechanism 1213 may be closer to or farther away from the gripping member 21 during the process of the first component 11 rotating with the second degree of freedom via the folding mechanism 1213, the first sensor 31 and the second sensor 32 may output the first sensing signal and the second sensing signal according to the change in their relative positions with the sensing member 40.

[0136] Referring to Figures 1, 3, and 8, Figure 8 shows the state in which the first component 11 is rotated to the first joint angle with the second degree of freedom by the folding mechanism 1213. At this time, the first component 11 is close to the grip 21 and in contact with the grip 21, and the gimbal is in a fully folded state. Figure 1 shows the state in which the first component 11 is rotated to the second joint angle with the second degree of freedom by the folding mechanism 1213. At this time, the end of the first component 11 is away from the grip 21, and the gimbal is in an unfolded state. Figure 3 shows the state in which the first component 11 is rotated to the third joint angle with the second degree of freedom by the folding mechanism 1213. At this time, the gimbal is in a partially unfolded intermediate state.

[0137] In some embodiments, the magnetic poles of the induction member 40 may be distributed along a first direction, which is perpendicular to the extension direction of the first component 11. Reference may be made to Figures 2 and 7 together. In Figures 2 and 7, the induction member 40 is disposed in the first component 11, and the distribution directions of the N pole and the S pole of the induction member 40 are approximately perpendicular to the extension direction of the first component 11. Since the external magnetic field generated by the magnet is emitted from the N pole to the S pole, the magnetic field strength in the direction of the distribution of the N pole and the S pole changes more significantly with distance. Therefore, during the rotation of the first component 11 with the second degree of freedom, the change in magnetic field strength is more obvious and is easier to be detected by the magnetic induction sensor. Specifically, the induction member 40 may be a bar magnet.

[0138] Of course, in other optional embodiments, the first direction may also have a certain angle with the normal line of the extension direction of the first component 11, and further settings may be made according to actual application scenarios.

[0139] In some embodiments, when the first component 11 rotates to the first joint angle with the second degree of freedom through the folding mechanism 1213 , the first sensor 31 and the second sensor 32 are both located on a side close to the first component 11 and are disposed toward the sensing element 40 .

[0140] 5 , in some embodiments, the first sensor 31 and the second sensor 32 are disposed on the same circuit board, and the circuit board is located on a side of the grip 21 close to the first component 11 , and the first sensor 31 and the second sensor 32 are located on a side of the circuit board close to the first component 11 .

[0141] In this way, when the first component 11 rotates to the first joint angle with the second degree of freedom through the folding mechanism 1213, the distance between the first sensor 31 and the second sensor 32 and the sensing component 40 is relatively close, and they are located in an orientation with a relatively strong magnetic field. Therefore, the amplitude of the sensing signal output is relatively large, which is more conducive to the gimbal performing control operations based on the sensing signal.

[0142] 7 , in some embodiments, the first sensor 31 and the second sensor 32 can be distributed along a second direction perpendicular to the extension direction of the grip 21, i.e., direction C as shown in the figure. In this way, the first sensor 31 and the second sensor 32 can be located at different orientations of the magnetic field generated by the sensing member 40, so that the sensing member 40 does not leave the sensing range of the two sensors during movement.

[0143] When the gimbal is in a fully folded state, that is, when the first component 11 is rotated to the first joint angle with the second degree of freedom through the folding mechanism 1213, the projections of the normal plane of the first sensor 31, the second sensor 32 and the sensing member 40 in the third direction can be roughly distributed along the second direction. The second direction can be perpendicular to the extension direction of the grip 21 or parallel to the extension direction of the grip 21. The third direction is perpendicular to the first sensor 31 or the second sensor 32 and can be understood as the sensing direction of the first sensor 31 or the second sensor 32. When the first sensor 31 and the second sensor 32 are arranged on the same circuit board, it can be a direction perpendicular to the circuit board.

[0144] In this way, the first sensor 31 and the second sensor 32 can be located at a location with a stronger magnetic field, and the output sensing signal amplitude is larger, which is more conducive to the pan-tilt head performing control operations according to the sensing signal.

[0145] Of course, in other optional embodiments, the first sensor 31 and the second sensor 32 may also be respectively arranged on the left side and the lower side of the sensing element 40 in Figure 10. Specifically, further arrangements may be made according to the actual spatial arrangement.

[0146] In order to prevent the first component 11 from still being able to rotate in the first degree of freedom after the gimbal is folded, in some embodiments, when the first component 11 is rotated to the first joint angle in the second degree of freedom through the folding mechanism 1213, the rotation of the first component 11 in the first degree of freedom is restricted.

[0147] When the first component 11 rotates to the first joint angle, the gimbal can mechanically limit the first component 11 using its own structure, or algorithmically limit the first component 11 using a motor control algorithm, so that the rotation of the first component 11 in the first degree of freedom is restricted. It should be understood that the restriction of the rotation of the first component 11 in the first degree of freedom can mean that the first component 11 cannot rotate in the first degree of freedom, or can only rotate within a certain angle range.

[0148] Furthermore, the gimbal can restrict the rotation of the first component 11 in the first degree of freedom by engaging the slot 211 and the engaging protrusion 12221. In some embodiments, one of the grip 21 and the first component 11 is provided with the slot 211, and the other is provided with the engaging protrusion 12221. When the first component 11 is rotated to the first position, the engaging protrusion 12221 engages with the slot 211, preventing the first component 11 from rotating in the first degree of freedom.

[0149] Referring to Figure 8 , the grip 21 may be provided with a slot 211, and the first component 11 may be provided with an engaging protrusion 12221. In this case, the first degree of freedom is rotation about the yaw axis. When the gimbal is fully folded, the engaging protrusion 12221 is at least partially located within the slot 211, preventing the first component 11 from rotating about the yaw axis and hindering portability.

[0150] Of course, in other optional embodiments, the first component 11 may also be provided with a slot, and the grip 21 may be provided with a snap-fitting protrusion. Alternatively, in some embodiments, the gimbal can be provided by the relative engagement between the folded grip 21 and the gimbal assembly 12. For example, the grip 21 can block the third axis assembly 123 to limit the rotation of the first component 11 in the first degree of freedom.

[0151] Further, referring to FIG7 , in some embodiments, when the engaging protrusion 12221 engages with the engaging slot 211, the projections of the normal planes of the sensing element 40 and the second sensor 32 in the third direction do not overlap. This ensures that, when the second sensor 32 is an AMR sensor, it can sense the sensing element 40 and output a sensing signal when the gimbal is in the fully folded state. In this case, the third direction can be perpendicular to the second sensor.

[0152] In the case where the non-contact sensor 30 includes the first sensor 31 and the second sensor 32 , the processor of the gimbal may perform a control operation in combination with the first sensing signal and the second sensing signal.

[0153] In some embodiments, the processor of the gimbal may further perform at least one of the following:

[0154] When the first sensing signal is less than the third preset threshold, or the second sensing signal is less than the fourth preset threshold, a power-on operation is performed. When the first sensing signal is greater than or equal to the fifth preset threshold, and the second sensing signal is greater than or equal to the sixth preset threshold, a power-off operation is performed.

[0155] The gimbal can power on when both the first and second sensing signals are below a certain threshold, and power off when both are greater than or equal to a certain threshold. By combining these two sensing signals to perform control operations, the gimbal can reduce erroneous operations that would occur if only a single sensor's sensing signal was used for judgment, further improving the accuracy of power-on and power-off timing.

[0156] It should be understood that the third preset threshold and the fourth preset threshold may be the same or different. The fifth preset threshold and the sixth preset threshold may be the same or different. The specific setting may depend on the type and structure of the first sensor 31 and the second sensor 32. The third preset threshold may be equal to or less than the fifth preset threshold. The fourth preset threshold may be equal to or less than the sixth preset threshold, and details are omitted here.

[0157] This embodiment of the present application also provides a gimbal control method, designed to enhance user convenience when powering on and off the gimbal. Referring to Figure 9, Figure 9 is a flowchart illustrating the steps of the gimbal control method according to this embodiment of the present application. This method can be applied to the gimbal. Specifically, the method can be executed by the gimbal's processor or by an external processor in communication with the gimbal, without limitation.

[0158] The gimbal includes a first component and a second component, the first component and the second component are mechanically coupled, and the method includes:

[0159] S101: Acquire a sensing signal of a non-contact sensor disposed on a first component and / or a second component.

[0160] S102: Execute a preset control operation based on the sensing signal so that when the relative position of the first component and the second component changes, the gimbal can execute a corresponding response. The control operation includes any one of the following: power-on operation; power-off operation.

[0161] 1 to 8 , in the embodiment of the present application, the structures of the first component 10 and the second component 20 can be configured with reference to the above embodiment, and will not be described again to avoid repetition. The specific implementation of the method steps of the embodiment of the present application can refer to the description of the above embodiment, and will not be described again here.

[0162] In the embodiments of the present application, the gimbal can be equipped with non-contact sensors on the first and / or second components. When the relative positions of the mechanically coupled first and second components change, the gimbal can perform corresponding power-on or power-off control operations based on the sensing signals output by the non-contact sensors. In this way, the user can automatically power the gimbal on and off simply by changing the relative positions of the first and second components, improving the convenience of power-on and power-off operations for the user.

[0163] Furthermore, if a contact sensor is used, such as a pressure sensor placed between the first and second components, and the contact between the pressure sensor and the first and second components is used to determine whether the positions of the first and second components have changed, this often results in a small sensing range. Furthermore, frequent contact between the contact sensor and the object being measured can cause mechanical wear and tear, shortening the lifespan of the gimbal.

[0164] By using non-contact sensors for sensing, the sensing range can be increased while avoiding the mechanical loss caused by contact sensors (such as pressure sensors) when they come into contact with the object being measured, thereby increasing the service life of the gimbal.

[0165] In some embodiments, step 102 may include at least one of the following:

[0166] S1021: When the sensing signal is less than or equal to a first preset threshold, perform a power-on operation.

[0167] S1022: When the sensing signal is greater than or equal to a second preset threshold, perform a power-off operation.

[0168] In some embodiments, the first preset threshold may be smaller than the second preset threshold.

[0169] In some embodiments, the contactless sensor may include at least one of a magnetic induction sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a visual sensor, and a millimeter wave radar sensor.

[0170] Wherein, when the non-contact sensor includes a magnetic induction sensor, the gimbal may further include an induction element made of magnetic material.

[0171] In some embodiments, the non-contact sensor may include a first sensor and a second sensor, wherein the first sensor is disposed in the first component or the second component, and the second sensor is disposed in the first component or the second component. The first sensor is configured to output a first sensing signal, and the second sensor is configured to output a second sensing signal. Step 102 may include:

[0172] S1023: Execute a control operation according to the first sensing signal and / or the second sensing signal.

[0173] In some embodiments, step 1023 may include at least one of the following: performing a power-on operation when the first sensing signal is less than or equal to a third preset threshold, or the second sensing signal is less than a fourth preset threshold; and performing a power-off operation when the first sensing signal is greater than or equal to a fifth preset threshold and the second sensing signal is greater than or equal to a sixth preset threshold.

[0174] In some embodiments, the third preset threshold may be smaller than the fifth preset threshold, and / or the fourth preset threshold may be smaller than the sixth preset threshold.

[0175] In some embodiments, the first sensor and / or the second sensor include a magnetic induction sensor, and the gimbal further includes a sensing element made of a magnetic material. Step 102 may include executing a control operation based on the first sensing signal and / or the second sensing signal, such that when the relative position of the first sensor and / or the second sensor and the sensing element changes, the gimbal can execute a corresponding response.

[0176] In some embodiments, the first sensor includes a Hall sensor and the second sensor includes an anisotropic magnetoresistive (AMR) sensor.

[0177] In some embodiments, when the gimbal performs a power-off operation, the contactless sensor remains powered on.

[0178] The specific implementation methods of the above embodiments can all refer to the relevant descriptions of the previous gimbal embodiment, and will not be repeated here to avoid repetition.

[0179] In scenarios where users need to shoot at a fixed angle, the gimbal can be used with auxiliary equipment such as a tripod and a payload for shooting. In this case, the position of the gimbal's base remains roughly unchanged, allowing the payload to achieve a fixed shooting angle. However, according to the gimbal's stabilization control logic, to prevent the gimbal's base from shaking and causing the gimbal's arm to move abnormally, there is often a large margin between the gimbal's three-axis controllable angle range and the actual joint angle limit. When the gimbal's arm exceeds the controllable angle range, the gimbal will control the motor rotation to return the arm to the controllable angle range, which will result in a smaller adjustable angle range for the gimbal's three axes. When the user needs to adjust to another shooting angle, the payload may not be adjusted to the desired angle, which will result in a poor user experience.

[0180] In view of this, an embodiment of the present application also provides a method for controlling a gimbal, which aims to enhance the user experience when using the gimbal to shoot at different fixed shooting angles.

[0181] Referring to Figure 10, Figure 10 is a schematic flow chart of the steps of the control method of the gimbal according to an embodiment of the present application, which can be applied to the gimbal. Specifically, it can be executed by the processor of the gimbal, or it can be executed by an external processor connected to the gimbal in communication, which is not limited here. The gimbal includes a base and an arm assembly, and the arm assembly is connected to the base for mounting a load. The arm assembly includes at least one arm, which can rotate relative to the base around at least one axial direction to adjust the posture of the load.

[0182] The method includes:

[0183] S201: Acquire the motion state of the base of the gimbal.

[0184] S202: When the gimbal is equipped with a load and the motion state of the base satisfies a first preset condition, enter a first shooting mode; the first preset condition includes that the posture of the base remains approximately unchanged.

[0185] In which, when the gimbal is in the first shooting mode, the target arm of the arm assembly does not stabilize the load, and the target arm can rotate from the first joint angle to the second joint angle with a first degree of freedom when subjected to external force, and can maintain the second joint angle.

[0186] Referring to Figures 11 and 12, the gimbal shown in Figures 11 and 12 is a three-axis handheld gimbal. The base 50 of the gimbal can be a handle for the gimbal. The arm assembly 60 can be connected to the base 50 and used to carry a payload 70. Specifically, the arm assembly 60 can include axis assemblies corresponding to the three axes, such as the yaw axis assembly 61, the pitch axis assembly 62, and the roll axis assembly 63 shown in Figure 15. The axis assembly corresponding to each axis can include a motor and an arm, and the motor drives the arm to rotate around the corresponding axis.

[0187] It should be understood that the method of the embodiment of the present application can be applied to a three-axis gimbal, a two-axis gimbal, or a single-axis gimbal, and is not limited here.

[0188] In step 201 , the motion state of the base of the gimbal may be acquired through a sensor provided on the gimbal.

[0189] Specifically, in some embodiments, the gimbal may be provided with an inertial measurement unit (IMU), and the motion speed and / or motion acceleration of the gimbal base may be obtained based on the IMU. In some embodiments, the gimbal may also be provided with an accelerometer, a tilt sensor, a vibration sensor, or an angular displacement sensor, etc., and the motion state of the base of the gimbal may be obtained in combination with the sensing signals of one or more sensors. Of course, in other optional embodiments, the motion state of the base of the gimbal may also be obtained from a sensor outside the gimbal, for example, by obtaining image data of the base of the gimbal through a visual sensor, and determining the motion state of the base of the gimbal based on the image data. It should be understood that the gimbal may continuously obtain the motion state of the base, or may obtain the motion state of the base within a preset time period, or the gimbal may start obtaining the motion state of the base after receiving a specific input, which is not limited here.

[0190] In step 202, if the gimbal is carrying a payload and the motion state of the base meets the first preset condition, since the first preset condition includes the base's posture remaining substantially unchanged, this generally indicates that the user may be using auxiliary fixing equipment such as a tripod and needs to shoot at a fixed shooting angle. At this point, the gimbal can enter the first shooting mode to facilitate the user's shooting.

[0191] The position and posture of the base remain substantially unchanged, which can be understood as the change of the position and posture of the base within a preset time period does not exceed a preset range. Specifically, in some embodiments, the first preset condition may include that the movement speed or movement acceleration of the gimbal base is substantially zero.

[0192] In this case, since the gimbal is usually fixed with auxiliary fixing devices such as a tripod, users often do not have a high demand for gimbal stabilization. Therefore, in order to increase the adjustable angle range of the target axis arm of the axis arm assembly, the target axis arm can be controlled to cancel the stabilization of the load. At the same time, to facilitate the user to adjust the shooting angle of the load, the target axis arm can rotate from a first joint angle to a second joint angle when subjected to external force and can be maintained at the second joint angle.

[0193] The target axis arm is rotated by an external force, which can generally be understood as the process in which the target axis arm rotates in its corresponding axis direction as the push-pull operation is performed. The target axis arm can rotate from a first joint angle to a second joint angle as the external force is applied, and can remain at the second joint angle after the external force disappears. In other words, the target axis arm can rotate as the push-pull operation is performed, and can remain at the current joint angle when the push-pull operation stops. The user can adjust the shooting angle of the load by pushing and pulling the target axis arm.

[0194] In an embodiment of the present application, the first shooting mode can be entered by obtaining the motion state of the base of the gimbal, and when the gimbal is equipped with a load and the motion state of the base remains roughly unchanged. In the first shooting mode, the target axis arm of the axis arm assembly can cancel the stabilization of the load to increase the adjustable angle range of the target axis arm. At the same time, the target axis arm can be rotated from the first joint angle to the second joint angle when subjected to an external force, and can be maintained at the second joint angle. This allows the user to rotate the target axis arm within a larger angle range to keep the load at a suitable shooting angle, thereby improving the user's freedom in the process of shooting with the gimbal, that is, improving the user's experience.

[0195] The load in the embodiment of the present application may be a shooting device, which may specifically include a mobile phone, a camera or a video camera, etc., which are not listed one by one here.

[0196] It should be understood that the target arm can include any arm in the arm assembly, such as the yaw arm, pitch arm, or roll arm. The gimbal can control one or more of the target arms in the arm assembly to cancel the stabilization of the payload, or it can control all arms in the arm assembly to cancel the stabilization of the payload. The specific setting can be set according to actual needs.

[0197] Accordingly, the first degree of freedom may include any one of a degree of freedom of rotation about a roll axis, a degree of freedom of rotation about a pitch axis, and a degree of freedom of rotation about a yaw axis.

[0198] Since the gimbal has a corresponding stabilized shooting mode when in motion, the gimbal can switch between the first shooting mode and the stabilized shooting mode. In some embodiments, the method may further include:

[0199] S203: When the gimbal is in the first shooting mode, if the gimbal meets a second preset condition, a mode switching operation is performed.

[0200] Specifically, in some embodiments, the second preset condition may include that the motion state of the base of the gimbal does not meet the first preset condition, or that first information sent by the payload is received, and the first information is used to instruct the gimbal to exit the first shooting mode.

[0201] In step 203, executing the mode switching operation may correspondingly include: S2031, entering the second shooting mode. Wherein, when the gimbal is in the second shooting mode, the target axis arm stabilizes the load.

[0202] If the gimbal is in the first shooting mode and the motion state of the base of the gimbal changes, the gimbal can exit the first shooting mode and switch to the second shooting mode for stabilization. For example, in some embodiments, when the user removes the gimbal from an auxiliary fixing device such as a tripod, or when the user moves the auxiliary fixing device such as a tripod, the gimbal can automatically switch to the second shooting mode if the motion state of the base of the gimbal does not meet the first preset condition, thereby avoiding manual operation by the user. In some embodiments, the user can input to the payload so that the payload sends a first message to the gimbal instructing the gimbal to exit the first shooting mode. After receiving the first message, the gimbal can exit the first shooting mode and switch to the second shooting mode.

[0203] Of course, in other optional embodiments, the gimbal may also have interactive controls or physical buttons for controlling the switching of shooting modes. The user may also input the gimbal to cause the gimbal to exit the first shooting mode and enter the second shooting mode, and the specific setting may be based on the actual application scenario.

[0204] It should be understood that the second shooting mode may be a stabilization mode of the gimbal. In the second shooting mode, the gimbal controls the target axis arm that canceled the stabilization of the load in the first shooting mode to stabilize the load again.

[0205] In some embodiments, when the gimbal is in the second shooting mode, the target axis arm can rotate from the third joint angle to the fourth joint angle with a first degree of freedom when subjected to an external force, and can remain at the fourth joint angle. The maximum rotation angle between the first joint angle and the second joint angle is greater than the maximum rotation angle between the third joint angle and the fourth joint angle.

[0206] In the second shooting mode, the target arm can also rotate within a controllable angle range as the push-pull operation is performed, and can maintain the current joint angle when the push-pull operation stops. As can be seen from the above, because the first shooting mode eliminates the target arm's load stabilization, the target arm can be adjusted within a larger angle range. In the second shooting mode, the target arm stabilizes the load, so the target arm's adjustable angle range is smaller than the target arm's adjustable angle range in the first shooting mode.

[0207] Furthermore, in some embodiments, the maximum rotation angle between the first joint angle and the second joint angle in the first shooting mode can be determined by the mechanical limit structure of the gimbal. That is, when subjected to an external force, the target axis arm can rotate to a joint angle that interferes with the mechanical limit structure and maintain the current joint angle when the external force ceases. Of course, in other optional embodiments, the maximum rotation angle between the first joint angle and the second joint angle in the first shooting mode can also be within a pre-set angle range.

[0208] It should be noted that, referring to FIG11 , when the target axis arm includes a roll axis arm, the roll axis arm can usually only be maintained at two joint angles of 0° or 90° in the second shooting mode, so that the payload remains in a horizontal or vertical shooting state. At this time, the user cannot shoot at a shooting angle where the payload is tilted in the roll axis direction. By entering the first shooting mode, the user can maintain the roll axis arm at a joint angle other than 0° and 90°, as shown in FIG13 , so that the payload can be shot at more shooting angles, which also increases the user's shooting freedom.

[0209] In some embodiments, step 2031 may specifically include:

[0210] The joint angle of at least one shaft arm is adjusted so that the shaft arm assembly is in a preset first posture.

[0211] When switching modes, since it may involve changes in the gimbal control strategy, for ease of control, the gimbal can adjust the joint angle of at least one arm after the mode is switched so that the arm assembly returns to a preset posture.

[0212] The first posture corresponding to the second shooting mode can be a preset posture, specifically a preset posture of the gimbal when it leaves the factory, or a preset posture set by the user. For example, referring to FIG11 , in some embodiments, the first posture can be a zero-position posture when the joint angles of the shaft arms of each axis are 0°, so that the user can adjust the shaft arm assembly based on the zero-position posture. In some embodiments, the first posture can also be a historical posture previously stored by the gimbal, so that the user can shoot in the first posture, which is not limited here.

[0213] It should be understood that in the first posture, the joint angle of the target arm of the arm assembly can be within the controllable angle range in the stabilization mode to avoid the gimbal being unable to control the target arm in the second shooting mode.

[0214] By adjusting the arm assembly to the preset first posture when entering the second shooting mode, it is possible to reduce the possibility of the arm assembly moving abnormally due to different control strategies in different shooting modes. At the same time, returning to the preset first posture also makes it easier for users to shoot in the second shooting mode.

[0215] Optionally, the gimbal may have an idle mode, and during the process of performing the mode switching, the gimbal may switch from the first shooting mode to the idle mode. In some embodiments, the second preset condition may include that the gimbal is not carrying a payload.

[0216] Accordingly, step 203 may specifically include:

[0217] S2032: Entering the no-load mode: When the gimbal is in the no-load mode, the target axis arm can rotate from the fifth joint angle to the sixth joint angle with the first degree of freedom when subjected to an external force, and can maintain the sixth joint angle.

[0218] Referring to FIG. 1 , the gimbal shown in FIG. 1 is in a state where no load is carried. Specifically, whether the gimbal is carrying a load can be determined by setting sensors, which will not be listed here one by one.

[0219] When the gimbal is in unloaded mode, the target arm can also rotate from the fifth joint angle to the sixth joint angle using the first degree of freedom when subjected to external force, and can maintain the sixth joint angle when the external force is removed. This allows the user to adjust the arm assembly's posture while the gimbal is unloaded, making it easier to attach a load.

[0220] Furthermore, in some embodiments, step 2032 may specifically include:

[0221] The control arm assembly is maintained in a second posture, and the second posture can be the posture of the arm assembly before the gimbal is switched from the first shooting mode to the no-load mode.

[0222] The situation of switching from the first shooting mode to the no-load mode is usually when the user removes the payload from the arm assembly. In this case, the gimbal can control the arm assembly to maintain the second posture before entering the no-load mode, so that the user can re-install the payload.

[0223] In some embodiments, the method may further include: S204, when controlling the gimbal to switch from the first shooting mode to the second shooting mode, adjusting the joint angle of at least one axis arm so that the axis arm assembly is in a third posture, and the third posture can be determined by the target posture information of the axis arm assembly when the gimbal is in the second shooting mode.

[0224] It should be understood that in step 204, the target posture information may be information indicating the third posture corresponding to the axis arm assembly in the second shooting mode. Specifically, the target posture information may be information acquired by the gimbal before entering the first shooting mode. Thus, when the gimbal switches back from the first shooting mode to the second shooting mode, it can use the target posture information to adjust the joint angle of at least one axis arm so that the axis arm assembly is in the third posture previously assumed in the second shooting mode.

[0225] In some embodiments, the target posture information may include posture angle information of at least one shaft arm in the shaft arm assembly. In some embodiments, the target posture information may also include joint angle information of at least one shaft arm in the shaft arm assembly.

[0226] Specifically, the target attitude information may include joint angle information or attitude angle information of the roll axis in the arm assembly. In some embodiments, the gimbal may record the joint angle of the roll axis arm as the target attitude information before entering the first shooting mode. When switching from the first shooting mode to the second shooting mode, the roll axis motor may control the roll axis arm to rotate to the previously recorded joint angle.

[0227] In the second shooting mode, the roll axis arm can typically only maintain two positions: 0° and 90°. For example, referring to Figures 11 and 13, if the arm assembly 60 shown in Figure 11 is in the third position, the joint angles of the roll, pitch, and yaw axis arms are all 0°. The gimbal can then obtain target position information corresponding to the third position, specifically the joint angle information of the roll axis arm. After entering the first shooting mode, the arm assembly 60 changes to the position shown in Figure 13, where the joint angle of the roll axis arm is not 0°. When the gimbal is switched from the first shooting mode to the second shooting mode, the roll axis arm of the arm assembly 60 can be adjusted back to the joint angle shown in Figure 11 to facilitate vertical shooting. Of course, in other optional embodiments, if the joint angle of the roll axis arm in the third position is 90°, meaning the load is in a horizontal position, the roll axis arm can also be adjusted to 90° when switching from the first shooting mode to the second shooting mode to facilitate horizontal shooting.

[0228] In this way, the gimbal can automatically adjust to the previously recorded third posture when switching from the first shooting mode to the second shooting mode, avoiding the need for users to frequently adjust the posture of the arm assembly when switching shooting modes, thereby improving the convenience of users during the shooting process.

[0229] Optionally, the gimbal may have a protection mode, and during the process of performing mode switching, the gimbal may switch from the first shooting mode to the protection mode.

[0230] In some embodiments, the second preset condition may include the base being suspended, and / or the arm assembly being connected to a load, with the load's corresponding moment of inertia being less than a preset threshold. Accordingly, step 203 may specifically include: S2033, entering protection mode. When the gimbal is in protection mode, the motor of the target arm stops outputting torque.

[0231] If the base of the gimbal is a handle, a user holding the handle will create resistance to its rotation. However, when the handle is suspended, the user's resistance to the handle disappears. Based on this, the gimbal can determine whether the base is suspended.

[0232] Specifically, in some embodiments, the gimbal can determine whether the base is in a suspended state by obtaining the base's moment of inertia about a target axis and combining it with the angular velocity of the motor that drives the base. Of course, in some embodiments, the gimbal can also enter a protection mode if the load is too small or not properly installed.

[0233] When the base is suspended in the air, the motor of the target shaft arm can stop outputting torque to prevent the base from being driven by the motor and causing unexpected shaking. In other words, the target shaft arm can be in a state of releasing force.

[0234] In some embodiments, the arm assembly may be provided with an inertial measurement unit (IMU). Step 201 may specifically include: S2011: Acquire a sensing signal from the IMU, where the sensing signal indicates the motion state of the arm assembly. S2012: Determine the motion state of the base based on the sensing signal. The inertial measurement unit (IMU) may be provided in the arm assembly, specifically at the roll-axis motor, and may be used to detect the motion state of each arm in the arm assembly.

[0235] Because the base of the gimbal is connected to the arm assembly, the gimbal can determine the motion state of the gimbal's base based on the motion state of the arm assembly. For example, in some embodiments, the gimbal can determine that the base of the gimbal is in motion when the sensing signal indicates that the arm of the arm assembly is experiencing motion acceleration but is not rotating about its axis, and can further determine the motion acceleration of the gimbal's base. In this way, the gimbal can determine the motion state of the base using the IMU installed in the arm assembly, thereby avoiding the need for additional sensors at the base, reducing the space occupied by the base, and saving costs.

[0236] Optionally, the gimbal can select whether to enter the first shooting mode through communication with the payload. In some embodiments, step 201 may specifically include: S2013: upon receiving second information sent by the payload, obtaining the motion state of the gimbal base. Upon receiving an input for entering the first shooting mode, the payload sends the second information to the gimbal.

[0237] The second information can be information from the payload instructing the gimbal to enter the first shooting mode. Before the payload sends the second information to the gimbal, the payload can establish a communication connection with the gimbal. Specifically, in some embodiments, a user can establish a communication connection with the gimbal through the payload's application and, by inputting an interactive control in the application's interface that indicates the start of the first shooting mode, instruct the payload to send the second information to the gimbal. After receiving the second information, the gimbal can further obtain the motion status of the base to determine whether to enter the first shooting mode.

[0238] In this way, the user can remotely control the gimbal to enter the first shooting mode by inputting the payload, improving the user's convenience when shooting. At the same time, after the gimbal receives the second information, it obtains the motion information of the base, which can avoid the resource occupation caused by the gimbal continuously obtaining the motion information of the base. In other optional embodiments, to reduce resource occupation, the gimbal can also obtain the motion information of the base after connecting to the tripod. The specific setting can be based on the actual application scenario.

[0239] Optionally, when the gimbal is in the first shooting mode, the user can control the gimbal to perform corresponding shooting operations by inputting to the gimbal. In some embodiments, after step 202, the method may further include:

[0240] S205: Receive a first input.

[0241] S206 : In response to the first input, control the load to perform a preset shooting operation.

[0242] The preset shooting operation may include at least one of the following: adjusting the focal length; adjusting the focus; shooting.

[0243] The first input can be a user's touch operation on a physical button on the gimbal. For example, a user can click the capture button on the gimbal to control the payload to perform a capture operation. The first input can also be a user's touch operation on other control structures on the gimbal. For example, a user can adjust the focus of the payload by adjusting the dial structure on the gimbal. Of course, the first input can also be a user's touch and / or non-touch operation on the virtual interactive controls on the gimbal, which will not be listed here.

[0244] It should be understood that the gimbal can, when in communication with the payload, control the payload to perform a preset shooting operation by sending a command to the payload to perform the preset shooting operation. In this way, the user can control the payload to perform the preset shooting operation through a first input to the gimbal in the first shooting mode, thereby improving the convenience of the user when shooting.

[0245] Optionally, when the gimbal is in the first shooting mode, the user can adjust the posture of the axis arm assembly by inputting to the gimbal. In some embodiments, after step 202, the method may further include:

[0246] S207: Receive a second input.

[0247] S208: In response to the second input, adjust the joint angle of at least one shaft arm so that the shaft arm assembly is in a preset fourth posture. The second input is similar to the first input, and will not be described again to avoid repetition.

[0248] The fourth posture can be a factory-set posture for the gimbal or a user-set posture. For example, referring to FIG11 , in some embodiments, the fourth posture can be a zero-position posture where the joint angles of the shaft arms of each axis are 0°. In this case, the second input can control the shaft arm assembly to "recenter," allowing the user to further adjust the posture of the shaft arm assembly based on the zero-position posture. In some embodiments, the fourth posture can also be a historical posture previously stored by the gimbal, allowing the user to shoot in the fourth posture, without limitation.

[0249] In this way, the user can use the second input to adjust the arm assembly of the gimbal to a preset fourth posture, which can facilitate the user to further adjust the posture of the arm assembly based on the fourth posture, or facilitate the user to shoot based on the fourth posture, thereby improving the convenience of the user when shooting.

[0250] The present application also provides a gimbal, comprising a base and an arm assembly, wherein the arm assembly is connected to the base and is used to mount a load; the arm assembly comprises at least one arm, which is capable of rotating relative to the base about at least one axial direction to adjust the posture of the load;

[0251] The pan-tilt platform also includes a memory and a processor; the memory is used to store computer programs; the processor is used to execute the computer programs and, when executing the computer programs, implement the steps of the pan-tilt platform control method provided in the above embodiment.

[0252] Please refer to Figure 14, which is a schematic block diagram of a pan-tilt control device provided in an embodiment of the present application. This control device is applied to the aforementioned pan-tilt, wherein the control device can be integrated with the aforementioned pan-tilt or independently provided with the pan-tilt and communicatively connected thereto. The aforementioned pan-tilt control method can also be applied to this control device.

[0253] As shown in FIG14 , the control device 1400 includes a processor 1401 and a memory 1402. The processor 1401 and the memory 1402 are connected via a bus 1403, such as an I2C (Inter-Integrated Circuit) bus. Specifically, the processor 1401 may be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP). Specifically, the memory 1402 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0254] The processor 1401 is configured to run a computer program stored in the memory 1402 and implement the following steps when executing the computer program:

[0255] Acquire sensing signals from a non-contact sensor disposed on the first component and / or the second component. Perform a preset control operation based on the sensing signals, so that when the relative position of the first component and the second component changes, the gimbal can perform a corresponding response. The control operation includes any of the following: a power-on operation; a power-off operation.

[0256] Alternatively, the processor 1401 is configured to run a computer program stored in the memory 1402, and implement the following steps when executing the computer program:

[0257] Obtain the motion state of the gimbal's base. When the gimbal is carrying a payload and the base's motion state satisfies a first preset condition, enter a first capture mode; the first preset condition includes the base's posture remaining substantially unchanged. When the gimbal is in the first capture mode, the target arm of the arm assembly does not stabilize the payload, and the target arm is capable of rotating from a first joint angle to a second joint angle with a first degree of freedom when subjected to an external force, and is capable of maintaining the second joint angle.

[0258] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement the steps of the pan-tilt control method provided in the above embodiment.

[0259] The computer-readable storage medium may be an internal storage unit of the PTZ described in any of the aforementioned embodiments, such as a hard disk or memory of the PTZ. The computer-readable storage medium may also be an external storage device of the PTZ, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the PTZ.

[0260] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0261] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0262] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A pan / tilt head, characterized in that: include: First component; a second component mechanically coupled to the first component; as well as, a non-contact sensor, disposed in the first component and / or the second component; The non-contact sensor is used to output a sensing signal, so that when the relative position of the first component and the second component changes, the pan / tilt platform can perform corresponding control operations according to the sensing signal; The control operation includes any of the following: Power-on operation; power-off operation.

2. The pan / tilt head according to claim 1, wherein: The first assembly includes a first component, and the first component can rotate relative to the second assembly with a first degree of freedom and a second degree of freedom; the first degree of freedom corresponds to a preset first rotation range, wherein, When the first component rotates at any angle within the first rotation range of the first degree of freedom relative to the second component and at the second degree of freedom, so that the relative position of the first component and the second component changes and the sensing signal changes, the sensing signal is used to enable the gimbal to perform the control operation.

3. The pan / tilt head according to claim 2, wherein: The first degree of freedom includes any of the following: Degree of freedom of rotation about the roll axis; Degree of freedom of rotation about the pitch axis; The degree of freedom of rotation about the yaw axis.

4. The pan / tilt head according to claim 2, wherein: The first component includes a pan-tilt assembly, and the first component is part of the pan-tilt assembly; The gimbal assembly includes at least one shaft assembly, and each shaft assembly is used to drive the load of the gimbal to rotate around a corresponding axial direction to achieve posture adjustment of the load.

5. The pan / tilt head according to claim 4, characterized in that: The first degree of freedom is a degree of freedom of rotation about one of the axial directions, and the second degree of freedom is a degree of freedom of rotation about an axial direction other than the axial direction corresponding to the first degree of freedom.

6. The pan / tilt head according to claim 5, characterized in that: The second component includes a gripping member; The pan / tilt assembly includes: The first shaft assembly is connected to the holding member and includes a first driving member and a first shaft arm; the first shaft arm is connected to the first driving member and can be driven by the first driving member to rotate around a first axial direction; wherein, The first component is connected to the first shaft arm, or includes at least a portion of the first shaft arm.

7. The pan / tilt head according to claim 6, wherein: The first degree of freedom is a degree of freedom of rotation about the first axis.

8. The pan / tilt head according to claim 6, wherein: The first shaft arm is provided with a folding mechanism, and the folding mechanism can enable the first component to rotate with the second degree of freedom.

9. The pan / tilt head according to claim 8, characterized in that: The first shaft arm comprises: a first sub-shaft arm connected to the first driving member; a second sub-axle arm, the first component including the second sub-axle arm; The folding mechanism is connected to the first sub-axis arm and the second sub-axis arm, so that the second sub-axis arm can rotate with a second degree of freedom.

10. The pan / tilt head according to any one of claims 6 to 9, characterized in that: The pan-tilt assembly further includes: A second shaft assembly is connected to the first shaft assembly and includes a second drive member and a second shaft arm; the second shaft arm is connected to the second drive member and can be driven by the second drive member to rotate around a second axis; and / or, The third shaft assembly is connected to the second shaft assembly and includes a third driving member. The third driving member is capable of rotating around a third axial direction.

11. The pan / tilt head according to claim 10, wherein: The first axial direction is the yaw axis, the second axial direction is the pitch axis, and the third axial direction is the roll axis.

12. The pan / tilt head according to any one of claims 2 to 9, characterized in that: The non-contact sensor includes a first sensor and a second sensor, wherein the first sensor is provided on the first component or the second assembly, and the second sensor is provided on the first component or the second assembly; wherein, The first sensor is used to output a first sensing signal, and the second sensor is used to output a second sensing signal, so that when the first component rotates relative to the second component at any angle within a first rotation range of the first degree of freedom and in the second degree of freedom, the gimbal can perform the control operation according to the first sensing signal and the second sensing signal.

13. The pan / tilt platform according to claim 12, wherein: At least one of the first sensor and the second sensor includes an anisotropic magnetoresistive (AMR) sensor, and the pan / tilt platform further includes an inductive element made of magnetic material.

14. The pan / tilt head according to claim 1, wherein: The gimbal further includes a processor configured to perform at least one of the following: When the sensing signal is less than a first preset threshold, performing a power-on operation; When the sensing signal is greater than or equal to a second preset threshold, a power-off operation is performed.

15. The pan / tilt platform according to claim 14, wherein: The first preset threshold is smaller than the second preset threshold.

16. The pan / tilt head according to claim 1, wherein: The non-contact sensor includes a first sensor and a second sensor, wherein the first sensor is provided in the first component or the second component, and the second sensor is provided in the first component or the second component; wherein, The first sensor is used to output a first sensing signal, and the second sensor is used to output a second sensing signal, so that when the relative position of the first component and the second component changes, the gimbal can perform the control operation according to the first sensing signal and / or the second sensing signal.

17. The pan / tilt platform according to claim 16, wherein: The gimbal further includes a processor configured to perform at least one of the following: When the first sensing signal is less than a third preset threshold, or the second sensing signal is less than a fourth preset threshold, performing a power-on operation; When the first sensing signal is greater than or equal to a fifth preset threshold and the second sensing signal is greater than or equal to a sixth preset threshold, a power-off operation is performed.

18. The pan / tilt head according to claim 16, wherein: The first sensor and the second sensor are of different types.

19. The pan / tilt head according to claim 16, wherein: The first sensor and the second sensor are arranged on the same circuit board.

20. The pan / tilt platform according to claim 16, wherein: The first sensor and the second sensor are both provided in the first component, or the first sensor and the second sensor are both provided in the second component.

21. The pan / tilt platform according to any one of claims 1, 14-20, characterized in that: The pan / tilt platform further includes a sensing element, the non-contact sensor is provided on one of the first component and the second component, and the sensing element is provided on the other of the first component and the second component; wherein, The non-contact sensor is used to output the sensing signal according to the change in relative position between the non-contact sensor and the sensing element.

22. The pan / tilt platform according to claim 21, wherein: The number of the sensing elements and the number of the non-contact sensors may be different.

23. The pan / tilt platform according to claim 21, wherein: The non-contact sensor includes a magnetic induction sensor, and the induction element is at least partially made of magnetic material.

24. The pan / tilt platform according to claim 23, wherein: The magnetic induction sensor includes a Hall sensor and / or an anisotropic magnetoresistive (AMR) sensor.

25. The pan / tilt platform according to claim 23, wherein: The induction member is at least a part of one of the first component and the second component, or the induction member includes a magnet disposed inside one of the first component and the second component.

26. The pan / tilt platform according to claim 23, wherein: In the case where the non-contact sensor includes a first sensor and a second sensor, the sensing element is disposed in the first component, and the first sensor and the second sensor are both disposed in the second component; Wherein, the first component includes a pan-tilt assembly, the second component includes a grip, and the pan-tilt assembly is connected to the grip.

27. The pan / tilt platform according to claim 26, wherein: The pan / tilt assembly includes a first component and a folding mechanism, wherein the first component is connected to the folding mechanism; wherein, The first component can be rotated with a second degree of freedom through the folding mechanism, so that the end of the first component away from the folding mechanism is close to or away from the holding component; the sensing component is arranged on the first component.

28. The pan / tilt platform according to claim 27, wherein: The magnetic poles of the induction element are distributed along a first direction, and the first direction is perpendicular to the extension direction of the first component.

29. The pan / tilt platform according to claim 26, wherein: The first sensor includes a Hall sensor, and the second sensor includes an anisotropic magnetoresistive (AMR) sensor.

30. The pan / tilt platform according to claim 26, wherein: The first sensor and the second sensor are distributed along a second direction, and the second direction is perpendicular to an extending direction of the gripping member.

31. The pan / tilt platform according to claim 27, wherein: When the first component is rotated to the first joint angle in the second degree of freedom by the folding mechanism, the rotation of the first component in the first degree of freedom is restricted.

32. The pan / tilt platform according to claim 31, wherein: One of the gripping member and the first component is provided with a card slot, and the other is provided with a card engaging protrusion; wherein, When the first component rotates to the first joint angle with the second degree of freedom, the engaging protrusion cooperates with the engaging groove.

33. The pan / tilt platform according to claim 32, wherein: When the engaging protrusion is engaged with the engaging groove, projections of the normal planes of the sensing element and the second sensor in the third direction do not overlap, and the third direction is perpendicular to the second sensor.

34. The pan / tilt platform according to claim 33, wherein: When the first component is rotated to the first joint angle with the second degree of freedom through the folding mechanism, the first sensor and the second sensor are both located on a side close to the first component and arranged toward the sensing element.

35. The pan / tilt platform according to any one of claims 1, 14-20, characterized in that: The non-contact sensor includes at least one of the following: Infrared sensor; laser sensor; ultrasonic sensor; visual sensor; millimeter wave radar sensor.

36. A method for controlling a pan / tilt platform, characterized in that: The gimbal includes a first component and a second component, the first component and the second component are mechanically coupled, and the method includes: Acquiring a sensing signal from a non-contact sensor disposed on the first component and / or disposed on the second component; executing a preset control operation according to the sensing signal, so that when the relative position of the first component and the second component changes, the gimbal can execute a corresponding response; The control operation includes any one of the following: Power-on operation; power-off operation.

37. The method according to claim 36, wherein The performing of a control operation according to the sensing signal includes at least one of the following: When the sensing signal is less than or equal to a first preset threshold, performing a power-on operation; When the sensing signal is greater than or equal to a second preset threshold, a power-off operation is performed.

38. The method according to claim 37, wherein The first preset threshold is smaller than the second preset threshold.

39. The method according to any one of claims 36 to 38, wherein: The non-contact sensor includes at least one of the following: Magnetic induction sensor; infrared sensor; laser sensor; ultrasonic sensor; visual sensor; millimeter wave radar sensor.

40. The method according to claim 36, wherein The non-contact sensor includes a first sensor and a second sensor, wherein the first sensor is disposed in the first component or the second component, and the second sensor is disposed in the first component or the second component; the first sensor is used to output a first sensing signal, and the second sensor is used to output a second sensing signal; The performing of a preset control operation according to the sensing signal includes: The control operation is performed according to the first sensing signal and / or the second sensing signal.

41. The method according to claim 40, wherein The performing the control operation according to the first sensing signal and / or the second sensing signal includes at least one of the following: When the first sensing signal is less than or equal to a third preset threshold, or the second sensing signal is less than a fourth preset threshold, performing a power-on operation; When the first sensing signal is greater than or equal to a fifth preset threshold and the second sensing signal is greater than or equal to a sixth preset threshold, a power-off operation is performed.

42. The method according to claim 41, wherein The third preset threshold is less than the fifth preset threshold; and / or, The fourth preset threshold is smaller than the sixth preset threshold.

43. The method according to claim 40, wherein The first sensor and / or the second sensor include a magnetic induction sensor, and the gimbal further includes an induction element made of magnetic material; The step of executing a preset control operation according to the sensing signal so that the gimbal can execute a corresponding response when the relative position of the first component and the second component changes includes: The control operation is performed according to the first sensing signal and / or the second sensing signal, so that when the relative position of the first sensor and / or the second sensor and the sensing element changes, the gimbal can perform a corresponding response.

44. The method according to any one of claims 40 to 43, wherein: The first sensor includes a Hall sensor, and the second sensor includes an anisotropic magnetoresistive (AMR) sensor.

45. The method according to claim 36, wherein When the pan / tilt platform performs a power-off operation, the non-contact sensor remains powered on.

46. ​​A method for controlling a pan / tilt platform, characterized in that: The pan / tilt platform includes a base and an arm assembly, wherein the arm assembly is connected to the base and is used to mount a load; the arm assembly includes at least one arm, and the arm can rotate relative to the base around at least one axial direction to adjust the posture of the load; The method comprises: Obtaining a motion state of the base of the pan / tilt platform; Entering a first shooting mode when the gimbal is carrying a load and the motion state of the base satisfies a first preset condition; the first preset condition includes that the posture of the base remains substantially unchanged; Wherein, when the gimbal is in the first shooting mode, the target arm of the arm assembly does not stabilize the load, and the target arm can rotate from the first joint angle to the second joint angle with a first degree of freedom when subjected to an external force, and can maintain at the second joint angle.

47. The method according to claim 46, wherein The method further comprises: When the gimbal is in the first shooting mode, if the gimbal meets a second preset condition, a mode switching operation is performed.

48. The method according to claim 47, wherein The second preset condition includes that the motion state of the base of the gimbal does not satisfy the first preset condition, or that first information sent by the payload is received, where the first information is used to instruct the gimbal to exit the first shooting mode; The execution mode switching operation includes: Enter the second shooting mode; When the gimbal is in the second shooting mode, the target axis arm stabilizes the load.

49. The method according to claim 48, characterized in that When the gimbal is in the second shooting mode, the target axis arm can rotate from the third joint angle to the fourth joint angle in the first degree of freedom when subjected to an external force, and can be maintained at the fourth joint angle; Wherein, the maximum rotation angle between the first joint angle and the second joint angle is greater than the maximum rotation angle between the third joint angle and the fourth joint angle.

50. The method according to claim 48, wherein The entering the second shooting mode includes: The joint angle of at least one of the shaft arms is adjusted so that the shaft arm assembly is in a preset first posture.

51. The method according to claim 47, wherein The second preset condition includes that the gimbal is not carrying a load; and the execution mode switching operation includes: Entering no-load mode; When the gimbal is in the no-load mode, the target axis arm can rotate from the fifth joint angle to the sixth joint angle in the first degree of freedom when subjected to an external force, and can be maintained at the sixth joint angle.

52. The method according to claim 51, characterized in that The entering the no-load mode includes: The arm assembly is controlled to maintain a second posture, where the second posture is the posture of the arm assembly before the gimbal is switched from the first shooting mode to the no-load mode.

53. The method according to claim 46, wherein The method further comprises: When the gimbal is controlled to switch from the first shooting mode to the second shooting mode, the joint angle of at least one of the arms is adjusted so that the arm assembly is in a third posture, and the third posture is determined by the target posture information of the arm assembly when the gimbal is in the second shooting mode.

54. The method according to any one of claims 46 to 53, wherein: The first degree of freedom includes any of the following: Degree of freedom of rotation about the roll axis; Degree of freedom of rotation about the pitch axis; The degree of freedom of rotation about the yaw axis.

55. The method according to any one of claims 48 to 52, wherein: The second preset condition includes that the base is in a suspended state, and / or the shaft arm assembly is connected to a load, and the moment of inertia corresponding to the load is less than a preset threshold; The execution mode switching operation includes: Enter protection mode; When the gimbal is in the protection mode, the motor of the target axis arm stops outputting torque.

56. The method according to claim 46, wherein The axis arm assembly is provided with an inertial measurement unit IMU, and obtaining the motion state of the base of the gimbal includes: Acquire a sensing signal from the IMU, where the sensing signal is used to indicate a motion state of the shaft arm assembly; Based on the sensing signal, a motion state of the base is determined.

57. The method according to any one of claims 46 to 53, wherein: The obtaining of the motion state of the base of the pan / tilt platform includes: Upon receiving the second information sent by the load, the motion state of the base of the pan / tilt platform is obtained; wherein, The payload sends the second information to the gimbal when receiving the input for entering the first shooting mode.

58. The method according to any one of claims 46 to 53, wherein: After entering the first shooting mode, the method further includes: receiving a first input; In response to the first input, controlling the load to perform a preset shooting operation; The preset shooting operation includes at least one of the following: Adjust the focus; adjust the focus; shoot.

59. The method according to any one of claims 46 to 53, wherein: After entering the first shooting mode, the method further includes: receiving a second input; In response to the second input, a joint angle of at least one of the shaft arms is adjusted so that the shaft arm assembly is in a preset fourth posture.

60. A pan / tilt head, characterized in that: The invention comprises a base and an arm assembly, wherein the arm assembly is connected to the base and is used to mount a load; the arm assembly comprises at least one arm, and the arm can rotate relative to the base about at least one axial direction to adjust the posture of the load; The gimbal further includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the method steps as described in any one of claims 46-59 when executing the computer program.

61. A pan / tilt control device, characterized in that: The pan-tilt platform includes a first component and a second component, wherein the first component is mechanically coupled to the second component; the control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the method steps according to any one of claims 36 to 45.

62. A pan / tilt control device, characterized in that: The pan-tilt platform includes a first component and a second component, wherein the first component is mechanically coupled to the second component; the control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the method steps according to any one of claims 46 to 59.

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